version: 66.12
revision: DORADO
glider: 574
mission: 3
dive: 589
start: 4 24 119 9 17 2
data:
$ID,574
$MISSION,3
$DIVE,589
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,29
$D_BOOST,0
$T_BOOST,0
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,167
$T_MISSION,177
$T_ABORT,245
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53998
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.0101
$HD_C,9.8500004e-06
$HEADING,340
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.3999
$TGT_DEFAULT_LON,-12224.2
$TGT_AUTO_DEFAULT,0
$SM_CC,515.36688
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,259
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,117
$PITCH_MAX,3869
$C_PITCH,2759
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,301
$ROLL_MAX,3936
$ROLL_DEG,40
$C_ROLL_DIVE,1812
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,600
$VBD_MAX,3960
$C_VBD,2701
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,310
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$MAXI_24V,3
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-148.54955
$PRESSURE_SLOPE,0.0001058
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,3.1600001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907312
$SEABIRD_T_H,0.00061813911
$SEABIRD_T_I,2.1013675e-05
$SEABIRD_T_J,2.0586713e-06
$SEABIRD_C_G,-9.7689371
$SEABIRD_C_H,1.1415389
$SEABIRD_C_I,-0.0022330475
$SEABIRD_C_J,0.00024789109
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,240419,084828,-3414.7522,2509.4963,8,0.7,16,-27.5,1.0,298.6,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,1.3
$GPS2,240419,084828,-3414.7522,2509.4963,8,0.7,16,-27.5,1.0,298.6,11,9.3
$SPEED_LIMITS,0.346,0.443
$TGT_NAME,HEADING
$TGT_LATLONG,-3404.604,2505.037
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,7.5,20000,-22.5,-19.960,-24.24,2247
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.11,-292.0,2802,1820,2357,2279,0.0,0.0,0,102,0.00,0.00,-71.62,0.000,16390,0.000,0.000,2801,1821,3892,3913,3872,0,0,0,0,0,0,15.05,13.38,15.04
$GC,106,-1.11,-292.0,2801,1821,3913,3872,3.3,-9.9,14,113,1.83,2.35,0.00,0.000,4356,0.101,0.048,2415,3204,3892,3912,3872,0,0,0,0,0,0,14.73,14.83,14.84
$GC,208,-1.11,-292.0,2414,3204,3913,3872,21.0,-20.0,33,215,0.00,2.35,0.00,0.000,5126,0.000,0.046,2415,1806,3893,3913,3873,0,0,0,0,0,0,14.95,14.85,14.97
$GC,281,-1.11,-292.0,2414,1806,3912,3872,34.8,-19.3,46,287,0.00,2.42,0.00,0.000,4612,0.000,0.066,2415,401,3892,3912,3872,0,0,0,0,0,0,15.09,14.77,15.09
$GC,326,-1.11,-292.0,2414,401,3912,3873,44.2,-17.4,54,333,0.00,2.33,0.00,0.000,5126,0.000,0.036,2413,1804,3892,3912,3873,0,0,0,0,0,0,14.91,14.81,14.92
$GC,400,-1.11,-292.0,2413,1807,3912,3873,56.3,-17.5,67,406,0.00,2.38,0.00,0.000,4356,0.000,0.054,2413,3214,3892,3912,3872,0,0,0,0,0,0,15.10,14.72,15.11
$GC,452,-1.11,-292.0,2413,3214,3913,3873,65.0,-15.1,76,459,0.00,2.35,0.00,0.000,5126,0.000,0.043,2414,1811,3892,3912,3873,0,0,0,0,0,0,14.96,14.85,14.97
$GC,524,-1.11,-292.0,2413,1810,3913,3873,76.8,-17.9,89,531,0.00,2.42,0.00,0.000,4612,0.000,0.065,2413,399,3893,3913,3873,0,0,0,0,0,0,15.09,14.71,15.09
$GC,551,-1.11,-292.0,2413,399,3912,3872,82.0,-17.8,93,558,0.00,2.35,0.00,0.000,5126,0.000,0.035,2413,1818,3892,3912,3873,0,0,0,0,0,0,14.96,14.85,14.97
$GC,624,-1.11,-292.0,2413,1821,3912,3873,92.8,-16.5,106,630,0.00,2.35,0.00,0.000,4356,0.000,0.054,2413,3214,3892,3912,3873,0,0,0,0,0,0,15.08,14.84,15.09
$STATE,645,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,646,begin apogee
$GC,655,-0.17,0.0,2413,1797,3913,3873,97.2,-16.5,110,879,1.45,0.00,213.07,1.048,10246,0.148,0.000,2697,1796,2700,2741,2660,0,0,0,0,0,0,14.57,14.38,13.87
$STATE,880,end apogee,CONTROL_FINISHED_OK
$STATE,880,begin climb
$GC,883,1.11,292.0,2697,1796,2735,2659,114.7,0.0,150,1120,1.98,2.45,225.15,1.034,10500,0.071,0.043,3116,3210,1507,1550,1465,0,0,0,0,0,0,14.46,14.26,13.88
$GC,1181,1.11,292.0,3121,3209,1548,1463,86.8,22.7,202,1188,0.00,2.45,0.00,0.000,5126,0.000,0.053,3128,1805,1505,1548,1462,0,0,0,0,0,0,14.68,14.57,14.69
$GC,1253,1.11,292.0,3128,1805,1547,1461,68.4,25.8,215,1260,0.00,2.47,0.00,0.000,4612,0.000,0.070,3128,392,1505,1548,1462,0,0,0,0,0,0,14.88,14.58,14.88
$GC,1278,1.11,292.0,3127,391,1547,1461,61.7,24.1,219,1285,0.00,2.35,0.00,0.000,5126,0.000,0.033,3128,1809,1504,1547,1461,0,0,0,0,0,0,14.81,14.73,14.82
$GC,1351,1.11,292.0,3127,1812,1547,1461,44.6,22.9,232,1358,0.00,2.35,0.00,0.000,4356,0.000,0.045,3128,3200,1504,1547,1461,0,0,0,0,0,0,14.97,14.75,14.98
$GC,1391,1.11,292.0,3127,3202,1546,1460,35.1,20.4,239,1398,0.00,2.40,0.00,0.000,5126,0.000,0.051,3128,1796,1503,1546,1460,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1464,1.18,353.2,3128,1796,1546,1459,23.1,17.2,252,1515,0.00,2.50,44.75,0.874,10756,0.000,0.071,3128,396,1257,1311,1203,0,0,0,0,0,0,15.02,14.58,14.14
$STATE,1562,end climb,SURFACE_DEPTH_REACHED
$STATE,1562,begin surface coast
$FINISH,1.8,1.025645
$STATE,1567,end surface coast,CONTROL_FINISHED_OK
$STATE,1568,begin surface
$SM_CCo,1596,108.90,0.775,0,0,597,515.37
$SM_GC,0.81,14.23,2.40,108.90,0.041,0.037,0.775,124,1797,597,-8.17,-1.41,515.37,0,0,0,0,0,0,14.75,14.73,14.07
$IRIDIUM_FIX,-3401.68,2509.99,240419,074036
$TT8_MAMPS,0.021721,0.811916
$HUMID,44.95
$INTERNAL_PRESSURE,9.2928
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,36.8
$SC_FREEKB,3614112
$24V_AH,13.38,167.868
$10V_AH,12.99,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.475,45.450,482.975,108.900,0.000,0.000,0.000,0.000,2.000,0.000,0.000,469.039,174.179,587.544,489.554,128.775,0.000,919.734,0.000,420.198,0.000,14.662,0.000
$DEVICE_MAMPS,147.645,71.145,1048.050,774.945,0.000,0.000,0.000,0.000,420.000,0.000,0.000,9.610,2.190,9.610,28.340,36.580,0.000,12.110,0.000,17.980,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1610.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.110,0.000,0.000,0.000
$MEM,341064
$DATA_FILE_SIZE,6782,271
$CAP_FILE_SIZE,52322,0
$CFSIZE,2097086464,1984823296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240419,094655,-3414.537,2508.842,8,1.1,43,-27.5,0.4,319.9,8,4.1